CN105301022B - Omnirange based on Mecanum wheels moves digital flat panel ray detection machine people - Google Patents
Omnirange based on Mecanum wheels moves digital flat panel ray detection machine people Download PDFInfo
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Abstract
The present invention provides a kind of omnirange based on Mecanum wheels and moves digital flat panel ray detection machine people, including radiographic source end robot, digital flat-panel detector end robot, radiographic source end robot uses comprehensive Mecanum wheel constructions per capita with digital flat-panel detector terminal device, radiographic source end robot includes vehicle frame one, Mecanum wheels one, servomotor one, preceding tracking sensor one, tracking sensor one afterwards, x-ray source, permanent magnetic iron one and motion control box one, flat panel detector end robot includes vehicle frame two, Mecanum wheels two, servomotor two, preceding tracking sensor two, tracking sensor two afterwards, digital flat panel, permanent magnetic iron two and motion control box two；The detection robot can carry out omnirange movement, i.e. in addition to it can realize advance and retreat, traversing, pivot turn, can also realize being rotated around any point, especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank, flexibility of the robot to weld seam detection in equipment curved surface can be greatly improved.
Description
Technical field
Digital flat panel ray detection machine people is moved the present invention relates to a kind of omnirange based on Mecanum wheels.
Background technology
China is pressure-bearing special equipment manufacture big country, and pressure-bearing special equipment manufacture quantity ranks first in the world.Pressure-bearing special type sets
For the basic equipment for being industry, the industry-by-industry such as petrochemical industry, electric power, Aero-Space, and national defence, people's livelihood every field are required to respectively
Plant pressure-bearing special equipment.The international competitiveness of China's pressure-bearing special equipment, manufacturing capacity and product quality are improved, is anticipated with strategy
Justice.
Non-Destructive Testing is the key means that pressure-bearing special equipment workmanship is checked on, and is again the bottleneck for restricting production capacity.
In country's pressure-bearing special equipment manufacture at present, the 70% of weld seam Non-Destructive Testing uses film radiography method.The method detects the duration
Long, efficiency is low, and image archive and duplication are difficult, and consumption bulk petroleum, silver-colored resource, also produces darkroom waste liquor contamination environment, because
This need to improve and improves.
Digital flat panel radiography is the Non-Destructive Testing new technology of last decade development, fast with detection speed, efficiency high, spirit
Sensitivity is high, and image is preserved, replicated and called conveniently, the advantages of energy-conserving and environment-protective.But due to the number of digital flat panel radiography techniques
Word flat panel detector is equally attached to container inner wall without image of Buddha film, so the technology cannot be using single wall arrangement medium straight
Footpath is applied in being detected to major diameter container welding, at present can only be gentle using the pipeline of double-walled arrangement detection below diameter 1m
The weld seam of bottle.
In recent years, special equipment quantity constantly grows at top speed.This is just to ensureing special equipment high-quality, high efficiency, Gao Shui
Flat inspection proposes new challenge.At present, the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank, vertical storage tank from
There is blank in dynamicization digital radial characterization processes equipment, and existing detection robot on equipment curved surface weld seam detection it is flexible
Property relative deficiency, it is impossible to meet demand.
A kind of detection robot as disclosed in Patent No. ZL200510018933.4, for large-size spherical tank, vertical storage tank
Due to that cannot be positioned on detected object body, it is impossible to realize detection.
A kind of X-ray detection robot for weld seam of storage tank as disclosed in Application No. 201410005169.6, is merely able to realize
Laterally and longitudinally move, it is impossible to which any direction is moved or rotated, and flexibility is not enough, and need extra part to aid in realizing
The movement of robot and positioning.
Pressure-bearing special equipment is related to public safety, high to quality requirement, it is necessary to advanced Dynamic Non-Destruction Measurement escorts,
Pressure-bearing special equipment manufacturing capacity and quality level should be improved, while improving China's Dynamic Non-Destruction Measurement level.
The content of the invention
Digital flat panel ray detection machine people is moved it is an object of the invention to provide a kind of omnirange based on Mecanum wheels
Solve the automation digital radial characterization processes dress of the in-service pressurized equipments such as large-size spherical tank, vertical storage tank present in prior art
It is standby to there is blank, and existing detection robot to the flexibility relative deficiency of weld seam detection on equipment curved surface, it is impossible to meet need
The problems such as asking.
Technical solution of the invention is：
A kind of omnirange based on Mecanum wheels moves digital flat panel Ray machine people, including radiographic source end robot, number
Word flat panel detector end robot, radiographic source end robot is with digital flat-panel detector terminal device per capita using comprehensive
Mecanum wheel constructions；
Radiographic source end robot includes vehicle frame one, Mecanum wheel one, servomotor one, preceding tracking sensor one, rear tracking
Sensor one, x-ray source, permanent magnetic iron one and motion control box one, motion control box one are connected with wireless communication module one, preceding
Located at the front end of vehicle frame one, located at the rear end of vehicle frame one, the middle part of vehicle frame one is provided with rear tracking sensor one tracking sensor one
Motion control box one and continous way x-ray source, Mecanum one, Mecanum of the wheel wheels one that are respectively provided on two sides with of vehicle frame one are connected with
Servomotor one, the connection motion control box one of servomotor one, the two bottom sides of vehicle frame one are respectively equipped with permanent magnetic iron one；
Digital flat-panel detector end robot includes vehicle frame two, Mecanum wheel two, servomotor two, preceding tracking sensor
2nd, rear tracking sensor two, digital flat panel, permanent magnetic iron two and motion control box two, motion control box two be connected with for
The wireless communication module two of the connecting communication of wireless communication module one, preceding tracking sensor two is located at the front end of vehicle frame two, rear tracking
Sensor two is provided with motion control box two and digital flat panel located at the rear end of vehicle frame two, the middle part of vehicle frame two, and digital flat panel is located at
The bottom of vehicle frame two, Mecanum two, Mecanum of the wheel wheels two that are respectively provided on two sides with of vehicle frame two are connected with servomotor two, servo
Motor two connects motion control box two, and the two bottom sides of vehicle frame two are respectively equipped with permanent magnetic iron two.
Further, x-ray source uses continous way x-ray source.
Further, Mecanum wheels one are four with the quantity of Mecanum wheels two, and Mecanum wheels one are respectively equipped with car
Four ends of frame one, Mecanum wheels two are respectively arranged on four ends of vehicle frame two.
Further, radiographic source end robot, digital flat-panel detector end robot are separately positioned on detected object
It is that entrance is provided with WiFi repeaters at the manholes such as both sides, detected object such as spherical tank.
Further, between permanent magnetic iron one and detected object, between permanent magnetic iron two and detected object between being respectively equipped with
Higher than the most bottom surface of Mecanum wheels one, the most bottom surface of permanent magnetic iron two is higher than Mecanum for the most bottom surface of gap, i.e. permanent magnetic iron one
The most bottom surface of wheel two；Permanent magnetic iron one takes turns the distance of one and detected object with the distance of detected object more than Mecanum, forever
Magnetic magnet two takes turns the distance of two and detected object with the distance of detected object more than Mecanum.
Further, at least one of vehicle frame one and vehicle frame two are provided with suspension isolation mounting, and suspension isolation mounting includes
Flexible unit, horizontal mechanism, one end of flexible unit are located at the top platform of magnet fixed seat, the other end activity of flexible unit
Connecting vehicle frame fixed seat, the bottom of magnet fixed seat is connected with permanent magnetic iron one or permanent magnetic iron two, and vehicle frame fixed seat passes through water
Flattening mechanism connects the boss of bearing block, and bearing block is bolted servomotor one or servomotor respectively with magnet fixed seat
Two, motor fixing plate is provided between magnet fixed seat and servomotor one or servomotor two, servomotor one is connected by wheel shaft
Mecanum wheels one are connect, or servomotor two-way crosses wheel shaft connection Mecanum wheels two.
Further, horizontal mechanism uses more than one H types connecting rod, the more than one parallel installation of H types connecting rod and position
In parallel four-bar linkage is constituted on same vertical plane, the two ends of H type connecting rods are respectively by the convex of bearing pin connecting vehicle frame fixed seat
The boss of platform, bearing block.
Further, flexible unit is bolted between the top platform and pressing plate of magnet fixed seat, flexible unit
It is made up of the superposition of some flat springs, flat spring includes that, located at middle leaf spring long, the length of flat spring is passed from leaf spring long to two ends
Subtract, leaf spring gap long coordinates in the dead slot of vehicle frame fixed seat.
Further, also including synchronization and tracking control module：Realize radiographic source end robot and digital flat-panel detector end
Robot synchronized tracking walking, specially：
Radiographic source end robot autonomous, and encoder information is recorded, the rotation number of turns of each wheel is obtained, then will
The information is by being wirelessly sent to digital flat-panel detector end robot；
The encoder information that digital flat-panel detector end robot sends according to radiographic source terminal device people controls digital flat panel
The rotation of each wheel of detector end robot, and eliminate the accumulated error of digital flat-panel detector end robot motion generation.
Further, in synchronization and tracking control module, the accumulation mistake that flat panel detector end robot motion produces is eliminated
Difference, specially：
From the picture that the exposure of each digital flat panel is obtained, the exposure area on digital flat panel is obtained, exposure area is ray
The position in source, i.e., obtain position offset distance of the digital flat-panel detector end robot relative to radiographic source end robot by picture
From, and during walk next time the motion of digital flat-panel detector end robot is corrected and to realize that numeral is flat
The synchronized tracking of partitioned detector end robot and radiographic source end robot.
Further, in synchronization and tracking control module, the tired of digital flat-panel detector end robot motion generation is eliminated
Product error, specially：
Radiographic source end robotic equipment's resistance wire, radiographic source end robot by resistance wire or infrared-ray to thermal source just
To tank body region heat, when heating to a certain extent when, heated region can be formed just to hot source point temperature highest, to
The feature that ambient temperature is gradually reduced；
Digital flat-panel detector end robot is then distributed with four symmetrical heat-sensitive sensors, and four heat-sensitive sensors are just right
Point temperature difference can produce piezoelectric signal, if in the case of without centering, four heat-sensitive sensors just to a temperature difference,
Can there is pressure difference in the piezoelectric signal of generation, control digital flat-panel detector end robot to be transported towards thermal self-restraint stress according to pressure difference
The dynamic synchronized tracking to realize digital flat-panel detector end robot and radiographic source end robot.
The beneficial effects of the invention are as follows：
First, this kind is based on the omnirange movement digital flat panel ray detection machine people of Mecanum wheels, using comprehensive
Mecanum wheel constructions, based on four all directionally movable robots of Mecanum wheels by magnetic suck on spherical tank surface, and carry
Digital flat panel ray detection system detects to weld seam, can realize that the omnirange on the detected object such as spherical tank surface is moved
Dynamic, robot can neatly detect the weld seam of various trends.
2nd, this kind is based on the omnirange movement digital flat panel ray detection machine people of Mecanum wheels, can be multivariant
Automatic tracking welding is stitched, and can realize high sensitivity high reliability, and high efficiency, low cost, energy-conserving and environment-protective can replace film camera, real
The detection technique upgrading of existing pressure-bearing special equipment manufacture.
3rd, this kind of detection robot, can carry out omnirange movement, i.e., in addition to it can realize advance and retreat, traversing, pivot turn,
Can also realize being rotated around any point, it is especially special in the large-scale in-service pressure-bearing such as station boiler, spherical tank, vertical storage tank
In the equipment of kind, flexibility of the robot to weld seam detection on equipment curved surface can be greatly improved.
4th, the detection robot can realize application of the digital flat panel X-ray Testing Technology in 4m diameter above bearing devices,
The detection of various forms weld seam is completed using single wall arrangement, and realizes detection automation, detection efficiency can improve five times, inspection
Surveying the duration can shorten to 1/10th of film camera, and testing cost can be reduced to 1/3rd of film camera, it is possible to make
The manufacturing schedule and cost of pressure-bearing special equipment are decreased.
5th, at present the country bearing device manufacture ray detection annual value of production more than 1,000,000,000 yuan, film and chemical consumption into
This about 400,000,000 yuan, film is without the use of using digital flat panel X-ray Testing Technology, not only saves a large amount of expenses, and save a large amount of
Polyester fiber（Chip base material）And noble silver（Photosensitive material）, and a large amount of chemicals（Darkroom disposal is used）, saving energy
Source and environmental protection aspect have great social benefit.
Brief description of the drawings
Fig. 1 is the structural representation of the digital flat panel ray detection system based on Mecanum wheels in the embodiment of the present invention；
Fig. 2 is the structural representation of radiographic source end robot in embodiment；
Fig. 3 is the structural representation of digital flat-panel detector end robot in embodiment；
Fig. 4 is the structural representation of the omnirange movement digital flat panel ray detection machine people that embodiment is based on Mecanum wheels
Figure；
The annexation schematic diagram of suspension isolation mounting and vehicle frame one in Fig. 5 embodiments；
Fig. 6 is the structural representation of suspension isolation mounting in embodiment；
Fig. 7 is the direction view of bowing of suspension isolation mounting in embodiment；
Fig. 8 is the rear direction view of suspension isolation mounting in embodiment；
Fig. 9 is the dextrad view of suspension isolation mounting in embodiment；
Figure 10 is that embodiment radiographic source end robot, digital flat-panel detector end robot are connected with the communication of host computer and show
It is intended to；
Figure 11 is that radiographic source end robot in embodiment, digital flat-panel detector end robot realize the flow of synchronized tracking
Illustrate schematic diagram；
Figure 12 is the explanation schematic diagram of examining report generation module in embodiment；
Wherein：1- radiographic sources end robot, 2- digital flat-panel detectors end robot, 3- host computers, 4- spherical tanks, 5- suspensions
Isolation mounting；
Tracking sensor one before 11-, 12- permanent magnetic irons one, 13- Mecanum take turns one, 14- vehicle frames one, and tracking is passed after 15-
Sensor one, 16- servomotors one, 17- continous way x-ray sources, 18- motion control box one；
Tracking sensor two before 21-, 22- permanent magnetic irons two, 23- Mecanum take turns two, 24- vehicle frames two, and tracking is passed after 25-
Sensor two, 26- servomotors two, 27- digital flat panels, 28- motion control box two；
51- flexible units, 52- motor fixing plates, 53- bearing blocks, 54- wheel shafts, 55-H type connecting rods, 56- vehicle frame fixed seats,
57- magnet fixed seats, 58 pressing plates.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
Embodiment
A kind of digital flat panel ray detection imaging system based on Mecanum wheels, such as Fig. 1, including host computer 3, radiographic source
End robot 1, digital flat-panel detector end robot 2, radiographic source end robot 1 are equal with digital flat-panel detector end robot 2
Using comprehensive Mecanum wheel constructions, radiographic source end robot 1 is provided with motion control box 1, and motion control box 1 passes through
Wireless communication module one is connected with host computer 3, digital flat-panel detector end robot 2, and motion control box 1 passes through CAN communication
Module one connects servomotor 1, and digital flat-panel detector end robot 2 is provided with motion control box 2 28, motion control box two
28 are connected by wireless communication module two with host computer 3, radiographic source end robot 1, and motion control box 2 28 passes through CAN communication mould
Block two connects servomotor 2 26.
Radiographic source end robot 1 includes vehicle frame one 14, Mecanum wheel one 13, servomotor 1, preceding tracking sensor one
11st, rear tracking sensor 1, x-ray source 17, permanent magnetic iron 1 and motion control box 1, such as Fig. 2, preceding tracking sensor
One 11 located at the front end of vehicle frame 1, and located at the rear end of vehicle frame 1, the middle part of vehicle frame 1 is provided with rear tracking sensor 1
Motion control box 1 and continous way x-ray source 17, the Mecanum that is respectively provided on two sides with of vehicle frame 1 take turns one 13, Mecanum wheels
One 13 rotating shafts for being connected with servomotor 1, the two bottom sides of vehicle frame 1 are respectively equipped with permanent magnetic iron 1.
Digital flat-panel detector end robot 2 includes vehicle frame 2 24, Mecanum wheel 2 23, servomotor 2 26, preceding tracking
Sensor 2 21, rear tracking sensor 2 25, digital flat panel 27, permanent magnetic iron 2 22 and motion control box 2 28, such as Fig. 3, it is preceding
, located at the front end of vehicle frame 2 24, rear tracking sensor 2 25 is located at the rear end of vehicle frame 2 24, vehicle frame 2 24 for tracking sensor 2 21
Middle part be provided with motion control box 2 28 and digital flat panel 27, digital flat panel 27 located at the bottom of vehicle frame 2 24, vehicle frame 2 24
It is respectively provided on two sides with Mecanum and takes turns the rotating shaft that 2 23, Mecanum wheels 2 23 are connected with servomotor 2 26, the bottom of vehicle frame 2 24
Portion is respectively provided on two sides with permanent magnetic iron 2 22.
Such as Fig. 4, radiographic source end robot 1, digital flat-panel detector end robot 2 are collectively formed based on Mecanum wheels
Omnirange moves digital flat panel ray detection machine people.
X-ray source 17, compared to pulsed x-ray source, can obtain apparent more high using continous way x-ray source 17
The imaging of level, can be imaged detection and reach JB/T 4730.2-2005：AB grades, go in pressure-bearing special equipment weld seam
Portion's defects detection.For example：For the steel workpiece of 25mm thickness, image quality indicator is used：IQI EN 462-W6 FE, AB grade technologies etc.
Level is required：O.11 filament is high-visible, and industrial grade AB grades of requirement is met using continous way x-ray source 17.Pulsed X-ray
Source technology grade is relatively low, it is impossible to reach JB/T 4730.2-2005：AB grades, cannot generally meet the weldering of pressure-bearing special equipment
The need for seam Inner Defect Testing, it is mainly used in the automatic scanning of metal dangerous material in airport, the safety check of high ferro station.
Embodiment uses single wall transillumination shown in Fig. 1, and including radiographic source, outside, two carry robot cars to digital flat panel
By magnetic-adsorption on the surface of spherical tank 4, Liang Ge robots are divided into radiographic source end robot 1 and digital flat-panel detector end robot
2, radiographic source end robot 1 is walked or distal end remote control by itself weld seam tracking, digital flat-panel detector end robot 2
Tracking radiographic source end robot 1, it is ensured that digital flat-panel detector end robot 2 and the synchronous walking of radiographic source end robot 1.
Such as Figure 11, the autonomous of radiographic source end robot 1, and encoder information is recorded, obtain what each wheel was turned over
The number of turns, then by the information by being wirelessly sent to digital flat-panel detector end robot 2, digital flat-panel detector end robot
The rotation of the 2 each wheels of encoder information control digital flat-panel detector end robot 1 sent according to radiographic source end robot 1,
And the elimination of the accumulated error that the motion of digital flat-panel detector end robot 2 is produced can use two schemes：
Scheme one, exposes the picture that obtains it can be seen that having one on square digital flat panel 27 from each digital flat panel 27
Circular exposure area, circular exposure area is the position of radiographic source, i.e., obtain digital flat-panel detector terminal by picture
Device people 2 relative to radiographic source end robot 1 position offset distance, and next time walk during to flat panel detector end
The motion of robot 2 is corrected, so as to realize digital flat-panel detector end robot 2 it is synchronous with radiographic source end robot 1 with
Track.
Scheme two, the equipment resistance wire of radiographic source end robot 1, radiographic source end robot 1 is by resistance wire or infrared penetrates
Line to thermal source just to tank body region heat, when heating to a certain extent when, heated region can be formed just to hot source point
Temperature highest, the feature gradually reduced to ambient temperature, digital flat-panel detector end robot 2 is then distributed with four symmetrical heat
Dependent sensor, the temperature difference of four heat-sensitive sensors just to putting can produce piezoelectric signal, if in the case of without centering, four
Just to a temperature difference, can there is pressure difference in the piezoelectric signal of generation with individual heat-sensitive sensor, and digital flat panel detection is controlled according to pressure difference
Qi Duan robots are moved towards thermal self-restraint stress, so as to realize synchronized tracking.
Each robot motion's structure is used more than comprehensive Mecanum wheel constructions, i.e. the three of robot position adopts
It is Mecanum wheel with Mecanum wheels, preferably four positions.All directionally movable robot based on four Mecanum wheels leads to
Magnetic suck is crossed on the surface of spherical tank 4, and carries digital flat panel ray detection system and weld seam is detected, all directionally movable robot
The weld seam of various trends can neatly be detected.Wherein, robot absorption installs four pieces forever on the surface of spherical tank 4 by vehicle frame
Magnetic magnet and being arranged symmetrically is realized.
The most bottom surface of permanent magnetic iron 1 takes turns one 13 most bottom surface higher than Mecanum, and the most bottom surface of permanent magnetic iron 2 22 is high
In the most bottom surface of Mecanum wheels 2 23, while permanent magnetic iron 1, permanent magnetic iron 2 22 is provided absorption affinity and spherical tank
Tank skin keeps a determining deviation, it is to avoid resistance Mrs influence walking when adsorbing completely, to ensure that Mecanum wheels one 13, Mecanum are taken turns
2 23 smooth walking.Permanent magnetic iron 1, permanent magnetic iron 2 22 can also use reversible structure, by adjusting permanent-magnet magnetic
The absorption angle of iron 1, permanent magnetic iron 2 22, realizes the regulation of different absorption affinities.
Preceding tracking sensor 1, rear tracking sensor 1 connect motion control box 1, motion control box one respectively
18 are connected by wireless WIFI module with host computer 3.Preceding tracking sensor 2 21, rear tracking sensor 2 25 connect motion respectively
Control box 2 28, motion control box 2 28 is connected by wireless WIFI module with host computer 3.The weld seam of radiographic source end robot 1 is followed
Mark, to weld seam memory captured in real-time, then obtains robot relative to weld seam by robot two cameras of head and the tail after image procossing
Position, speed is then adjusted according to position deviation in time.
Continous way x-ray source 17 is fixed on the center of vehicle frame 1 in radiographic source end robot 1, and downwards, numeral is flat for radioactive source
Digital flat panel is fixed on the bottom center of vehicle frame 2 24 in partitioned detector end robot 2, and digital flat panel is digital imagery flat board
Receive downwards, when radiographic source end robot 1, digital flat-panel detector end robot 2 run, respectively two inside and outside spherical tank 4
Side, radiographic source end robot 1 radioactive source radiation X-ray, the numeral of digital flat panel 27 of digital flat-panel detector end robot 2 into
Picture, so as to realize the automation Non-Destructive Testing to weld seam.
The far-end remote control of radiographic source end robot 1 is controlled by installing wireless communication module one with robot, in spherical tank 4
It is that entrance installs wireless WiFi relayings at manhole, distal end host computer 3 and radiographic source terminal device is then connected by WiFi
People 1, and radiographic source end robot 1 transmits regarding for captured in real-time with digital flat-panel detector end robot 2 by wireless WiFi
Frequency information.Host computer 3 can be with remote control source robot 1, the motion of digital flat-panel detector end robot 2 and Working mould
Formula.
Radiographic source end robot 1, digital flat-panel detector end robot 2 are respectively equipped with level meter, and level meter is connected respectively
Motion control box one, motion control box two, radiographic source end robot 1, digital flat-panel detector terminal is calibrated by level meter
The attitude of device people 2, makes radiographic source end robot 1, the keeping parallelism of digital flat-panel detector end robot 2.
The vehicle frame 1 of radiographic source end robot 1, the vehicle frame 2 15 of digital flat-panel detector end robot 2 are respectively equipped with knot
Structure identical suspension isolation mounting 5.As Fig. 5 is illustrated by taking radiographic source end robot 1 as an example.
As Fig. 6, suspension isolation mounting 5 include flexible unit 51, horizontal mechanism, one end of flexible unit 51 is solid located at magnet
The top platform of reservation 57, the other end of flexible unit 51 is flexibly connected vehicle frame fixed seat 56, and the bottom of magnet fixed seat 57 connects
Permanent magnetic iron 1 is connected to, vehicle frame fixed seat 56 connects the boss of bearing block 53 by horizontal mechanism, and bearing block 53 is consolidated with magnet
Reservation 57 is bolted servomotor 1 respectively, and motor fixing plate is provided between magnet fixed seat 57 and servomotor 1
52, servomotor 1 connects Mecanum and takes turns 1 by wheel shaft 54.
Horizontal mechanism uses more than one H types connecting rod 55, such as Fig. 9, the parallel installation of more than one H types connecting rod 55 and position
In on same vertical plane, the two ends of H types connecting rod 55 respectively by the boss of bearing pin connecting vehicle frame fixed seat 56, bearing block 53 it is convex
Platform.
Flexible unit 51 is bolted between the top platform of magnet fixed seat 57 and pressing plate 58, such as Fig. 7, flexible single
Unit 51 is made up of the superposition of some flat springs, and flat spring is included located at middle leaf spring long, and the length of flat spring is from leaf spring long to two
End is successively decreased, and leaf spring gap long coordinates in the dead slot of vehicle frame fixed seat 56, such as Fig. 8, and leaf spring long can slidably reciprocate in groove.
Flexible unit 51 is made up of leaf spring, the five flat spring superpositions of two panels short-movie spring in a piece of leaf spring long, two panels, leaf spring long
Both sides be symmetrically distributed with a piece of middle leaf spring and a piece of short-movie spring.
Permanent magnetic iron 1 is centrally located on the place vertical plane of wheel shaft 54, and permanent magnetic iron 1 takes turns 1 with Mecanum
Walkway surface be arranged in parallel.
As shown in figure 4, the Mecanum wheeled vehicles in radiographic source end robot 1, digital flat-panel detector end robot 2 are filled
During with suspension isolation mounting 5, the top surface of vehicle frame fixed seat 56 and vehicle frame 1 or vehicle frame 2 24 are connected in one piece, four suspensions
Isolation mounting 5 is taken turns 2 23 Kinematics Laws and is symmetrically installed according to Mecanum wheels one 13, Mecanum.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, permanent magnetic iron 1 and Mecanum wheeled vehicles itself are heavy
The offer normal pressure of making a concerted effort of amount, when some Mecanum wheels 1 run into obstacle, Mecanum wheels 1 are lifted, permanent-magnet magnetic
Iron 1 is lifted simultaneously with Mecanum wheels 1, and keeps magnet lower surface parallel with absorption surface, other Mecanum wheels
One 13 are still close to absorption surface, permanent magnetic iron 1 surmounts obstacles with Mecanum wheels 1 simultaneously after, adsorb again in magnetic conduction material
Material surface.
When Mecanum wheeled vehicles are in permeability magnetic material surface creep, gravity suffered by Mecanum wheeled vehicles points to absorption table
Flat spring stress deformation between the top platform of face, leaf spring long and leaf spring long and magnet fixed seat 57, there is provided damping effect；
In gravity dorsad absorption surface suffered by Mecanum wheeled vehicles, the flat spring between leaf spring long and leaf spring long and pressing plate 58 is received
Force deformation, there is provided damping effect realizes the damping that Mecanum wheeled vehicles are creeped on adsorbing plane at any angle.
The suspension isolation mounting 5 disclosure satisfy that the absorption stability and kinetic stability of Mecanum wheels, it is ensured that Mecanum
Wheel the contact with permeability magnetic material surface and pressure, it is ensured that the distance and the depth of parallelism of permanent magnetic iron absorption surface, make adsorption effect with
Stabilization, while shock insulation unit can realize the shock insulation of upper and lower both direction, can meet and install the robot of the suspension system and exist
The isolating affection of the absorption surface of all angles.
Two H types connecting rods 55 and the boss of vehicle frame fixed seat 56, the boss composition parallelogram connection-rod machine of bearing block 53
Structure, it is ensured that Mecanum takes turns and the grade of permanent magnetic iron 1 is in translation, it is ensured that permanent magnetic iron 1 and connecing that Mecanum takes turns
Contacting surface is parallel, and then ensures one 12 pairs of magnetic conduction absorption surface absorption affinity stabilizations of permanent magnetic iron.
Flexible unit 51 has five flat springs symmetrical, folds the existing good flexibility of spring, there is stronger bearing capacity again,
Larger deformation can be both produced when Mecanum wheels surmount obstacles, will not be failed because deforming excessive again, symmetrical is folded
Spring can make the robot equipped with the suspension system be creeped in plane at any angle can have damping effect.
Permanent magnetic iron 1 is arranged on independent suspension position, even if the suspension equipped with Mecanum wheels can be made to creep
Remained to when obstacle obstacle detouring is run into journey into patch absorption surface, it is ensured that the kinetic characteristic of the robot equipped with Mecanum wheels, Er Qieyong
Magnetic magnet 1 is taken turns near Mecanum, and the physical dimension of suspension can ensure the distance of magnet and absorption surface, it is ensured that magnet pair
Absorption surface absorption affinity stabilization, and when obstacle is run into magnet can with Mecanum take turns simultaneously rise and fall, prevent because magnet with
Absorption surface it is in small distance and with obstacle bump against.
Figure 10 be whole control system operating diagram, radiographic source end robot 1, digital flat-panel detector end robot 2,
Host computer 3 is mutually communicated and transmission information by WiFi, and radiographic source end robot 1, digital flat-panel detector end robot 2 are distinguished
Be provided with wireless communication module, preceding tracking sensor, rear tracking sensor, CAN communication module, the motion control box of controlled motor,
The modules such as servomotor, realize function described above.
During control system includes that radiographic source end robot 1, digital flat-panel detector end robot 2, host computer 3 are operated
The heart, three units are connected by wireless communication module one, wireless communication module two, and radiographic source end robot 1 is visited with digital flat panel
The control system component units of Ce Qiduan robots 2 are much the same, and the preceding tracking sensor 11 of radiographic source end robot 1 is followed with after
Mark sensor 15 is digital camera, picture processing is carried out by the picture for photographing, for automatic tracking, radiographic source terminal device
Communicated by CAN between people 1 and motor, level meter, radiographic source end robot 1 is according to remote control or automatic tracking order meter
Each motor speed is calculated, control command is sent to by each motor by CAN, the encoder information of each motor and level meter
Information passes the motion control box 1 of radiographic source end robot 1, the motion control of radiographic source end robot 1 back by CAN
The information analysis that one 18 pairs, box is passed back is calculated, and then sends information to digital flat-panel detector terminal by wireless communication module
Device people 2, the information that digital flat-panel detector end robot 2 is transmitted according to radiographic source end robot 1, to displacement order memory
Adjustment, the motion command for finally calculating is sent to motor by CAN.
The Mecanum wheel weld seam detections robot of embodiment uses Mecanum wheel all-directionals mobile platform and AGV systems
System, has filled up the digital radial Aulomatizeted Detect technique dress of the in-service pressure-bearing special equipment such as domestic and international large-size spherical tank 4, vertical storage tank
Standby blank.The detection robot of embodiment is in addition to it can realize advance and retreat, traversing, pivot turn, moreover it is possible to realize around any one
Point is rotated, especially in the large-scale in-service pressure-bearing special equipment such as station boiler, spherical tank, vertical storage tank, can be significantly
Improve flexibility of the robot to weld seam detection on equipment curved surface.
This kind is based on digital flat panel ray detection machine people's imaging system of Mecanum wheels, is also generated including examining report
Module, examining report generation module：By the treatment to ray detection image, the Flaw discrimination identification of feature based is carried out, and
Defect quantitative and grading are carried out, it is automatic raw with reference to computer database technology according to relevant criterions such as JB/T 4730.2-2005
Into examining report, such as Figure 12.
Embodiment is applied to the detection of the large-scale various weld seams of bearing device equipment such as spherical tank, storage tank, including longitudinal joint, circumferential weld,
Embedded nozzle weld, end socket piece etc.；Robot motion and the free degree meet weld seam detection technological requirement, robot motion's essence
Degree meets accuracy of detection requirement；Soldering joint automatic tracking technology meets onsite application requirement；The digital radiography skill that system is used
Art meets examination criteria requirement with technique.Embodiment is eventually into a set of practical robot digital flat panel for being capable of automatic tracking welding seam
Ray detection system, can be used for the weld seam automatic detection of the large-scale pressure-bearing special equipment with diameter greater than 4m.
Claims (6)
1. a kind of omnirange based on Mecanum wheels moves digital flat panel ray detection machine people, it is characterised in that：Including ray
Source robot, digital flat-panel detector end robot, radiographic source end robot is adopted per capita with digital flat-panel detector terminal device
With comprehensive Mecanum wheel constructions, radiographic source end robot, that digital flat-panel detector end robot is separately positioned on is detected right
The both sides of elephant；
Radiographic source end robot includes vehicle frame one, Mecanum wheel one, servomotor one, preceding tracking sensor one, rear tracking sensing
Device one, x-ray source, permanent magnetic iron one and motion control box one, motion control box one are connected with wireless communication module one, preceding tracking
Sensor one is penetrated located at the rear end of vehicle frame one, x-ray source located at the front end of vehicle frame one, rear tracking sensor one using continous way X
Line source, the middle part of vehicle frame one is provided with motion control box one and continous way x-ray source, and vehicle frame one is respectively provided on two sides with Mecanum
One, Mecanum of wheel wheels one are connected with servomotor one, the connection motion control box one of servomotor one, the two bottom sides of vehicle frame one
It is respectively equipped with permanent magnetic iron one；
Digital flat-panel detector end robot include vehicle frame two, Mecanum wheel two, servomotor two, preceding tracking sensor two, after
Tracking sensor two, digital flat panel, permanent magnetic iron two and motion control box two, motion control box two be connected with for channel radio
The wireless communication module two of the connecting communication of module one is interrogated, preceding tracking sensor two is located at the front end of vehicle frame two, rear tracking sensor
Two are provided with motion control box two and digital flat panel located at the rear end of vehicle frame two, the middle part of vehicle frame two, and digital flat panel is located at vehicle frame two
Bottom, the Mecanum that is respectively provided on two sides with of vehicle frame two takes turns two, Mecanum wheels and two is connected with servomotor two, servomotor two
Connection motion control box two, the two bottom sides of vehicle frame two are respectively equipped with permanent magnetic iron two；
At least one of vehicle frame one and vehicle frame two are provided with suspension isolation mounting, and suspension isolation mounting includes flexible unit, level
Mechanism, one end of flexible unit is located at the top platform of magnet fixed seat, and the other end of flexible unit is flexibly connected vehicle frame and fixes
Seat, the bottom of magnet fixed seat is connected with permanent magnetic iron one or permanent magnetic iron two, and vehicle frame fixed seat passes through horizontal mechanism connecting shaft
The boss of bearing, bearing block is bolted servomotor one or servomotor two respectively with magnet fixed seat, and magnet is fixed
Motor fixing plate is provided between seat and servomotor one or servomotor two, servomotor one connects Mecanum and takes turns by wheel shaft
One, or servomotor two-way cross wheel shaft connection Mecanum wheel two；Flexible unit is bolted on the top of magnet fixed seat
Between platform and pressing plate, flexible unit is made up of the superposition of some flat springs, and flat spring is included located at middle leaf spring long, flat spring
Length is successively decreased from leaf spring long to two ends, and leaf spring gap long coordinates in the dead slot of vehicle frame fixed seat.
2. the omnirange based on Mecanum wheels as claimed in claim 1 moves digital flat panel ray detection machine people, its feature
It is：Gap is respectively equipped between permanent magnetic iron one and detected object, between permanent magnetic iron two and detected object.
3. the omnirange based on Mecanum wheels as claimed in claim 1 moves digital flat panel ray detection machine people, its feature
It is：Horizontal mechanism uses more than one H types connecting rod, and more than one H types connecting rod is parallel to be installed and positioned at same vertical plane
On, the two ends of H type connecting rods are respectively by boss, the boss of bearing block of bearing pin connecting vehicle frame fixed seat.
4. the omnirange based on Mecanum wheels as claimed in claim 1 moves digital flat panel ray detection machine people, its feature
It is：Also include synchronization and tracking control module：Realize radiographic source end robot it is synchronous with digital flat-panel detector end robot with
Track is walked, specially：
Radiographic source end robot autonomous, and encoder information is recorded, the rotation number of turns of each wheel is obtained, then this is believed
Breath is by being wirelessly sent to digital flat-panel detector end robot；
The encoder information control digital flat panel detection that digital flat-panel detector end robot sends according to radiographic source terminal device people
The rotation of each wheel of Qi Duan robots, and eliminate the accumulated error of digital flat-panel detector end robot motion generation.
5. the omnirange based on Mecanum wheels as claimed in claim 4 moves digital flat panel ray detection machine people, its feature
It is：In synchronization and tracking control module, the accumulated error that flat panel detector end robot motion produces is eliminated, specially：
From the picture that the exposure of each digital flat panel is obtained, the exposure area on digital flat panel is obtained, exposure area is x-ray source
Position, i.e., obtain position offset distance of the digital flat-panel detector end robot relative to radiographic source end robot by picture,
And the motion to digital flat-panel detector end robot during walk next time is corrected to realize that digital flat panel is visited
Ce Qiduan robots walk with the synchronized tracking of radiographic source end robot.
6. the omnirange based on Mecanum wheels as claimed in claim 4 moves digital flat panel ray detection machine people, its feature
It is：In synchronization and tracking control module, the accumulated error that digital flat-panel detector end robot motion produces is eliminated, specifically
For：
Radiographic source end robotic equipment's resistance wire, radiographic source end robot by resistance wire or infrared-ray to thermal source just to
Tank body region is heated, and heated region can be formed just to hot source point temperature highest, the feature gradually reduced to ambient temperature；
Digital flat-panel detector end robot is then distributed with four symmetrical heat-sensitive sensors, and four heat-sensitive sensors are just to point
Temperature difference can produce piezoelectric signal, if in the case of without centering, four heat-sensitive sensors are produced just to a temperature difference
Piezoelectric signal can there is pressure difference, according to pressure difference control digital flat-panel detector end robot towards thermal self-restraint stress move, come
Realize that digital flat-panel detector end robot walks with the synchronized tracking of radiographic source end robot.
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| CN110082373A (en) * | 2019-05-31 | 2019-08-02 | 北京史河科技有限公司 | A kind of flaw detection robot |
| CN115598718A (en) * | 2021-07-07 | 2023-01-13 | 同方威视技术股份有限公司（Cn） | Inspection system and method |
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| CN102616103B (en) * | 2012-04-23 | 2013-09-25 | 扬州万方电子技术有限责任公司 | Mecanum wheel omnidirectional mobile vehicle |
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| CN103760178B (en) * | 2014-01-06 | 2016-03-30 | 北京恒正精机科技有限责任公司 | A kind of X-ray detection robot for weld seam of storage tank |
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